CN101259856B - Inverting roller type positioning mobile robot - Google Patents
Inverting roller type positioning mobile robot Download PDFInfo
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- CN101259856B CN101259856B CN2008100358285A CN200810035828A CN101259856B CN 101259856 B CN101259856 B CN 101259856B CN 2008100358285 A CN2008100358285 A CN 2008100358285A CN 200810035828 A CN200810035828 A CN 200810035828A CN 101259856 B CN101259856 B CN 101259856B
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Abstract
The invention relates to an inverted roller-type positioning micro mobile robot belonging to the technical field of the robot. The invention comprises three inverted roller devices, a photoelectric positioning device and a robot body; wherein, the three inverted roller devices are arranged on the edge of the robot body at equal spacing and the photoelectric positioning device is arranged at the bottom of the robot body. The inverted roller device comprises a spherical roller, a first driving rolling shaft, a second driving rolling shaft, a first common rolling shaft, a second common rolling shaft, a first servo motor, a second servo motor, a first code disk, a second code disk, a first transmission belt, a second transmission belt and three driving balls. The mobile robot can realize omnidirectional rapid movement of the robot, achieve 10um-level positioning and can meet the omnidirectional movement without radius of gyration.
Description
Technical field
What the present invention relates to is the device in a kind of Robotics field, specifically is a kind of inverting roller type positioning mobile robot.
Background technology
General moveable robot movement mode is divided into wheeled or the leg formula.Wheeled mechanism generally has nonholonomic constraint, i.e. motion in a certain direction is restricted, and can not omnidirectional move, and uses wheeled mechanism to realize that the system of omnidirectional moving has a plurality of wheel coordinated movements of various economic factors to realize mostly.This structure has increased the complexity of system, and because the driving error of a plurality of wheels has improved the difficulty of the coordinated movement of various economic factors, brings difficulty for the omnidirectional moving of realizing truly.And, for robot, when adopting multiple-wheel drive, carrying out the robot accuracy of positioning by coder on the wheels of robot, its accuracy of positioning is difficult to meet the demands.And legged mobile robot simulation biological motion mode adopts the Piezoelectric Driving material usually, can realize high fix, but its running velocity is relatively slow, and efficient is low.
Find by prior art documents, Chinese patent application number is: 200580003210.5, name is called: the travel controls of legged mobile robot and legged mobile robot, this patent comprises: body, leg association on body is pivotably connected, the memory storage of shank gait data, the memory storage of body gait data, detect actual sensorimotor somatic movement detecting device, the computer device and the correcting device of the deviation of the deviation between the somatic movement of calculating target somatic movement and reality, this patent calculates the target somatic movement and actual sensorimotor deviation of legged mobile robot, and according to the deviation that calculates described target somatic movement is revised.This patent simulation biological motion mode has structures such as leg, trunk, and technology difficulty is bigger, in order to make the walking of robot two legs, and the maintenance balance, having used some detecting devices and controlled reset, volume is bigger, carry out complexity, moving velocity is also slow, and does not locate.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of inverting roller type positioning mobile robot is provided, make it can satisfy the demand of different task to robot, it is omnidirectional's requirement, speed requirement and accuracy requirement, and can realize 10um level location, be particularly suitable under the condition of microsize restriction, realizing comprehensive the moving of high precision of non-rotating radius.
The present invention is achieved by the following technical solutions, the present invention includes: be inverted roller devices, photoelectric positioning apparatus, robot body for three, wherein: be inverted roller devices for three and be arranged on equally spacedly on the edge of robot body, photoelectric positioning apparatus is positioned at the bottom of robot body.
Described inversion roller devices, comprise that spherical roller, first drives roller bearing, second and drives roller bearing, the first common roller bearing, the second common roller bearing, first servomotor, second servomotor, first code-disc, second code-disc, first driving band, second driving band, three transmission balls, wherein:
It is vertical mutually that the first driving roller bearing and second drives roller bearing, the first common roller bearing is also vertical mutually with the second common roller bearing, and all be parallel to robot body surface and contact with spherical roller, three transmission balls are fixed in the spherical roller top and are symmetrical distribution, and all contact with spherical roller, first driving band, one end links to each other with the first servomotor turning cylinder, and the other end and first drives roller bearing and links to each other, link to each other with first driving band, first code-disc is arranged on the first servomotor turning cylinder;
The turning cylinder of second servomotor and first servomotor is vertical mutually, second driving band, one end links to each other with the second servomotor turning cylinder, the other end and second drives roller bearing and links to each other, and links to each other with second driving band, and second code-disc is arranged on the second servomotor turning cylinder.
Described inversion roller devices, also comprise: first degree of tightness control wheel, second degree of tightness control wheel, first degree of tightness control wheel is arranged on the first servomotor turning cylinder and first and drives between the roller bearing, and second degree of tightness control wheel is arranged on the second servomotor turning cylinder and second and drives between the roller bearing.
Described robot body is a circular bottom plate.
Described photoelectric positioning apparatus is positioned at the center of robot body.
Described photoelectric positioning apparatus, comprise light-emitting diode, lens subassembly, light engine and control chip, wherein: the light transmission lens subassembly that light-emitting diode sends arrives light engine, light engine is positioned at the bottom centre position of robot body, its surface is parallel with the base plane of robot body, and light engine links to each other by electric wire with control chip.
Described lens subassembly, comprise two sheets of mirrors and convex lens, two sheets of mirrors is used for reflecting the light of light emitting diode, its adjustable positions, as long as can illuminate robot body bottom centre ground, convex lens are positioned under the light engine, make the ground imaging on light engine of robot body bottom centre, thereby light engine is received and the fathogram picture.
Described light engine is taken the coherent image that writes down a series of motion track when robot movement, and image is transferred to control chip.
Described control chip, a series of images of reception light engine by the variation of characteristic point position on these images is analyzed, obtains the moving direction and the miles of relative movement of robot, and controls three state of kinematic motions of being inverted roller devices.
When the present invention moved, the motion of being inverted roller devices was to provide power by two servomotors, and servomotor drives two driving roller bearings by driving band, drove roller bearing and spherical roller closed contact, and spherical roller is moved.Two driving roller bearings are two vertical direction, make spherical roller that two driving directions planar be arranged, and have realized omnibearing movable.Code-disc can be used for accurate controlled reset motor, thereby realizes that omnidirectional high-accuracy moves in the plane.
In apparatus of the present invention moving process, light-emitting diode emits beam, illuminate ground, robot bottom, a part of light of ground, bottom reflected back, through lens subassembly, be transferred to imaging in the light engine, the motion track of robot just can be registered as the coherent image of one group of high-speed capture, utilize photoelectric positioning apparatus in-to-in control chip at last, the a series of images that absorbs on the motion track is carried out analyzing and processing, by the variation of characteristic point position on these images is analyzed, judge the moving direction and the miles of relative movement of robot, and control three servomotors of being inverted in the roller devices and coordinate to drive, realize comprehensive motion rapidly and efficiently in the plane, that realizes non-rotating radius moves the location of finishing robot.
Compared with prior art, the present invention has following beneficial effect: the present invention is by being inverted the design of roller devices, make robot when turning to and ground-surface friction be pure rolling friction, can improve the kinematic velocity and the efficient of robot, and realize comprehensive the moving of high precision of non-rotating radius.Owing to there are not labyrinths such as leg, trunk, technology difficulty is lower, and the volume of robot can be made miniature.The design of photoelectric positioning apparatus makes robot in location that motion the time can realize 10um.The present invention can satisfy the demand of robot in various fields, improves the mobile efficient of robot, provides new solution for realizing high precision machines people operating system.
Description of drawings
Fig. 1 is a structural base scheme drawing of the present invention;
Fig. 2 is a photoelectric positioning apparatus structure vertical cross section;
Fig. 3 is for being inverted roller devices structure side view.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, present embodiment comprises: be inverted roller devices 2, photoelectric positioning apparatus 3, robot body 1 for three, wherein: be inverted roller devices 2 for three and be arranged on equally spacedly on the edge of robot body 1, photoelectric positioning apparatus 3 is positioned at the bottom of robot body 1.
As shown in Figure 3, described inversion roller devices 2, comprise that spherical roller 8, first drives roller bearing 9, second and drives the common roller bearing of the common roller bearing of roller bearing 10, first 11, second 12, first servomotor 13, second servomotor 14, first code-disc 15, second code-disc 16, first driving band 19, second driving band 20, three transmission balls, wherein:
It is vertical mutually that the first driving roller bearing 9 and second drives roller bearing 10, also vertical mutually between the first common roller bearing 11 and the second common roller bearing 12, and all be parallel to robot body 1 surface and contact with spherical roller 8, three transmission balls are fixed in spherical roller 8 tops and are symmetrical distribution, and all contact with spherical roller 8, first driving band, 19 1 ends link to each other with first servomotor, 13 turning cylinders, the other end and first drives roller bearing 9 and links to each other, first degree of tightness control wheel 17 drives between the roller bearing 9 at first servomotor, 13 turning cylinders and first, link to each other with first driving band 19, first code-disc 15 is arranged on first servomotor, 13 turning cylinders, is used for writing down the speed and the number of turns that first servomotor 13 rotates;
The turning cylinder of second servomotor 14 and first servomotor 13 is vertical mutually, and second driving band, 20 1 ends link to each other with second servomotor, 14 turning cylinders, and the other end and second drives roller bearing 10 and links to each other, and second code-disc 16 is arranged on second servomotor, 14 turning cylinders.
Described inversion roller devices 2 comprises: first degree of tightness control wheel, 17, second degree of tightness control wheel, 18, the first degrees of tightness control wheel 17 is arranged on first servomotor, 13 turning cylinders and first and drives between the roller bearing 9, can adjust in the vertical direction of first driving band, 19 motions; Second degree of tightness control wheel 18 is arranged on second servomotor, 14 turning cylinders and second and drives between the roller bearing 10, can adjust in the vertical direction of second driving band, 20 motions.
Described robot body 1 is a circular bottom plate.
Described photoelectric positioning apparatus 3 is positioned at the center of robot body 1.
As shown in Figure 2, described photoelectric positioning apparatus 3, comprise light-emitting diode 6, lens subassembly, light engine 8 and control chip 7, wherein: the light transmission lens subassembly that light-emitting diode 6 sends arrives light engine 8, light engine 8 is positioned at the bottom centre position of robot body 1, its surface is parallel with the base plane of robot body 1, and light engine 8 and control chip 7 link to each other by electric wire.
Described lens subassembly, comprise two sheets of mirrors 4 and convex lens 5, two sheets of mirrors 4 is used for reflecting the light of light emitting diode 6, its adjustable positions, as long as can illuminate robot body 1 bottom centre ground, convex lens 5 are positioned under the light engine 8, make robot body 1 bottom centre ground imaging on light engine 8, thereby light engine 8 is received and the fathogram picture.
Described light engine 8 is taken the coherent image that writes down a series of motion track when robot movement, and image is transferred to control chip 7.
Described light engine 8 is the ADNS-2051 sensor of Agilent, and per second can be taken the image of thousand sheets 800DPI, can make accuracy of positioning reach the 10um rank through control chip 7 analyzing and processing.
Described control chip 7, a series of images of reception light engine 8 by the variation of characteristic point position on these images is analyzed, obtains the moving direction and the miles of relative movement of robot, and controls three state of kinematic motions of being inverted roller devices 2.
Described control chip 7 is the SMC522 control chip.
When present embodiment moves, provide power by first servomotor 13 and second servomotor 14.First servomotor 13 drives first by first driving band 19 and drives roller bearing 10, makes spherical roller 21 in the directions X motion, and second servomotor 14 drives second by second driving band 20 and drives roller bearing 11, and spherical roller 21 is moved in the Y direction.Spherical roller 21 planar has two driving directions, has realized omnibearing movable.First code-disc 15, second code-disc 16 can be used for controlled reset first servomotor 13, second servomotor 14, thereby realize that omnidirectional high-accuracy moves in the plane.
In present embodiment device moving process, light-emitting diode 6 emits beam, illuminate ground, robot bottom, a part of light of ground, bottom reflected back, through lens subassembly 4, be transferred to imaging in the light engine 8, the motion track of robot just can be registered as the coherent image of one group of high-speed capture, utilize photoelectric positioning apparatus 3 in-to-in control chips 7 at last, the a series of images that absorbs on the motion track is carried out analyzing and processing, by the variation of characteristic point position on these images is analyzed, judge the moving direction and the miles of relative movement of robot, and control three servomotors of being inverted in the roller devices 2 and coordinate to drive, realize comprehensive motion rapidly and efficiently in the plane, that realizes non-rotating radius moves the location of finishing robot.
Present embodiment makes that by being inverted roller devices 2 robot is a pure rolling friction with ground-surface friction, can improve the kinematic velocity and the efficient of robot, and realize that the high precision of non-rotating radius is comprehensive mobile when turning to.Owing to there are not labyrinths such as leg, trunk, technology difficulty is lower, and the volume of robot can be made miniature.The design of photoelectric positioning apparatus makes robot in location that motion the time can realize 10um.Present embodiment can satisfy the demand of robot in various fields, improves the mobile efficient of robot, provides new solution for realizing high precision machines people operating system.
Claims (5)
1. inverting roller type positioning mobile robot, comprise: robot body, it is characterized in that, also comprise: be inverted roller devices, a photoelectric positioning apparatus for three, wherein: be inverted roller devices for three and be arranged on equally spacedly on the edge of robot body, photoelectric positioning apparatus is positioned at the bottom of robot body;
Described photoelectric positioning apparatus, comprise: light-emitting diode, lens subassembly, light engine and control chip, wherein: the light transmission lens subassembly that light-emitting diode sends arrives light engine, light engine is positioned at the bottom centre position of robot body, the surface of this light engine is parallel with the base plane of robot body, and light engine links to each other by electric wire with control chip;
Described inversion roller devices, comprise that spherical roller, first drives roller bearing, second and drives roller bearing, the first common roller bearing, the second common roller bearing, first servomotor, second servomotor, first code-disc, second code-disc, first driving band, second driving band, three transmission balls, first degrees of tightness control wheel, second degrees of tightness control wheel, wherein:
It is vertical mutually that the first driving roller bearing and second drives roller bearing, the first common roller bearing is also vertical mutually with the second common roller bearing, and all be parallel to robot body surface and contact with spherical roller, three transmission balls are fixed in the spherical roller top and are symmetrical distribution, and all contact with spherical roller, first driving band, one end links to each other with the first servomotor turning cylinder, the other end and first drives roller bearing and links to each other, first degree of tightness control wheel drives between the roller bearing at the first servomotor turning cylinder and first, link to each other with first driving band, first code-disc is arranged on the first servomotor turning cylinder;
The turning cylinder of second servomotor and first servomotor is vertical mutually, second driving band, one end links to each other with the second servomotor turning cylinder, the other end and second drives roller bearing and links to each other, second degree of tightness control wheel is arranged on the second servomotor turning cylinder and second and drives between the roller bearing, link to each other with second driving band, second code-disc is arranged on the second servomotor turning cylinder.
2. inverting roller type positioning mobile robot according to claim 1 is characterized in that, described light engine is taken the coherent image that writes down a series of motion track when robot movement, and image is transferred to control chip.
3. inverting roller type positioning mobile robot according to claim 1, it is characterized in that, described control chip, receive a series of images of light engine, by the variation of characteristic point position on these images is analyzed, obtain the moving direction and the miles of relative movement of robot, and control three state of kinematic motions of being inverted roller devices.
4. inverting roller type positioning mobile robot according to claim 1 is characterized in that, described robot body is a circular bottom plate.
5. inverting roller type positioning mobile robot according to claim 1 is characterized in that, described photoelectric positioning apparatus is positioned at the center of robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100358285A CN101259856B (en) | 2008-04-10 | 2008-04-10 | Inverting roller type positioning mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100358285A CN101259856B (en) | 2008-04-10 | 2008-04-10 | Inverting roller type positioning mobile robot |
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| CN101259856A CN101259856A (en) | 2008-09-10 |
| CN101259856B true CN101259856B (en) | 2010-06-02 |
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| CN2008100358285A Expired - Fee Related CN101259856B (en) | 2008-04-10 | 2008-04-10 | Inverting roller type positioning mobile robot |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB201303076D0 (en) * | 2013-02-21 | 2013-04-10 | Isis Innovation | Generation of 3D models of an environment |
| CN105928507A (en) * | 2016-06-21 | 2016-09-07 | 昆山穿山甲机器人有限公司 | Recording device for automatic walking track of indoor robot |
| CN106364590A (en) * | 2016-10-24 | 2017-02-01 | 北京灵铱科技有限公司 | Automatic obstacle avoidance chassis based on friction ball pairs |
| CN107616760A (en) * | 2017-09-25 | 2018-01-23 | 吴佳芮 | A kind of steering mechanism of smart home clean robot |
| CN107697179B (en) * | 2017-10-24 | 2023-10-27 | 桂林电子科技大学 | Dual-mode spherical robot mechanism and walking method |
| CN113280831A (en) * | 2021-07-06 | 2021-08-20 | 深圳市伽利略机器人有限公司 | Ball odometer and mileage calculation method |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1914009A (en) * | 2004-01-28 | 2007-02-14 | 丰田自动车株式会社 | Leg-equipped robot and leg-equipped robot walk control method |
| CN1990195A (en) * | 2005-12-29 | 2007-07-04 | 财团法人工业技术研究院 | Robot moving platform and moving sensing method thereof |
-
2008
- 2008-04-10 CN CN2008100358285A patent/CN101259856B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1914009A (en) * | 2004-01-28 | 2007-02-14 | 丰田自动车株式会社 | Leg-equipped robot and leg-equipped robot walk control method |
| CN1990195A (en) * | 2005-12-29 | 2007-07-04 | 财团法人工业技术研究院 | Robot moving platform and moving sensing method thereof |
Non-Patent Citations (2)
| Title |
|---|
| 李磊，陈细军，候增广，谭民.自主轮式移动机器人CASIA-I的整体设计.高技术通讯 2003年11期.2003,(200311),第51-55页. |
| 李磊,陈细军,候增广,谭民.自主轮式移动机器人CASIA-I的整体设计.高技术通讯 2003年11期.2003,(200311),第51-55页. * |
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